Sherdil Niyaz

I believe that https://github.com/personalrobotics/aikido/pull/588 handles and documents this, at least for DART planners (I'm not sure what to do with non-DART planners, considering that those don't even know they're operating...

Hey @brianhou, can you take another look? Reviving this now, I've made some fixes so Travis should be satisfied.

@aditya-vk You have a good question about when to split off a new component. I think the motivation here is a combination of: 1. The amount of code in this...

Thanks for clearing that up @scottpaulin! That makes a lot more sense now. I totally agree that the asymmetric argument makes sense, and I now understand why this special case...